mitlib.pub/MITLIB/IODll/Motor_7856.h

// Motor_7856.h: interface for the CMotor_7856 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTOR_7856_H__912D0237_EABF_43CC_B320_635408A66001__INCLUDED_)
#define AFX_MOTOR_7856_H__912D0237_EABF_43CC_B320_635408A66001__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "MotorAdlinkBase.h"
#define MAX_AXIS_SIMULTANEOUS_MOV_MOTIONNET  8

class CMotor_7856 : public CMotorAdlinkBase
{
public:
    CMotor_7856(CMtrProfile mtrProfile, double *dpPos, CMotionControllerBase *pBaseController);
    virtual ~CMotor_7856();

// **************************************************************
// Methods declaration
// **************************************************************

// method to close the axis
    void CloseAxis() override;

// method to initialize and configure the axis
    void ConstructMotor() override;

    void MotorMoveIntThread() override;

//  method to On/Off motor
    bool OnMotor() override;
    bool OffMotor() override;

//  method to stop motor with decceleration
    bool DecelStop() override;

//  method to trigger Emergency stop the motor  int EStop();
    bool EmergStop() override;

// method to get commanded position
    bool GetMotorCommandedPosition(int nMtrNo, double *pRaw) override;

// method to get other motor axis IO status
    int GetMotionIOStatus(const CMtrProfile &mtrProfile) override;

// method to get other motor axis current position
    bool GetMotorPosition(const CMtrProfile &mtrProfile, double *pRawPosition) override;

// method to get motor axis current position error
    bool GetMotorPositionError(double *pRawPositionError) override;

    bool FindHome(HOME_DIR homeDir, MOTION_SPEED speed, bool bToggleHomeSensor);

// Home by sensor or by limit
    BOOL HomeByHomeMode(int homeMode);

// method to do homing by limit sensor
    BOOL HomingByLimit() override;

// method to do homing by index signal
    BOOL HomeByIndex() override;

// method to do homing by Home Sensor
    BOOL HomeBySensor() override;

// method to home by home mode 27: (EL On Then reverse to count EZ number and reset counter)
    BOOL HomeByLimitThenIndex() override;

// method to move absolute
    bool AbsoluteMove(double dPosition, int nMode, PROFILE_CURVE curve) override;

// method to move continuously
    int MoveContinuously(bool bCW = true) override;

// method to move relative distance
    bool RelativeMove(double dDistance, PROFILE_CURVE curve) override;

// method to process interrupt to decode what happen to the motor
    void ProcessInt(int nIntCode = 0) override;

// method to reset single trigger
    int ResetSingleTrigger(double dPosition = 0.0) override;

// method to set the commanded position register
    bool SetMotorCommandedPosition(double dPosition) override;

// method to set the mechanical coversion factor
    bool RefreshMotorConversionFactor() override;

// method to set homing modes
    bool SetMotorHomeMode(int iHomeMode) override;

    int SetMultipleTrigger(double* pPosition, int nNoOfTrigger, int nCmpSource = 1) override;

// method to set multiple trigger
    bool SetMotorMultipleTrigger(const multiple_trigger &trigger) override;

// method to force set the current position
    bool SetMotorPosition(double dPosition) override;

// method to arm controller axis for single trigger
    int SetSingleTrigger(double dPosition,  int nCmpSource = 1, int nPulseStretch = STRETCH_NON) override;

// method to arm multiaxis for simultaneous motion
    bool SetupAbsoluteSimultaneousMove(int nNoOfAxis, short *sAxis, double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, double *dDec) override;
    bool SetupRelativeSimultaneousMove(int nNoOfAxis, short *sAxis, double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, double *dDec) override;
    bool StartSimultaneousMove(int nFirstAxisNo) override;
// - use MotorAdLinkBase Simultaneous move Move - Lim HS

// method to move motor in s-curve continuously
    int SMoveContinuously(bool bCW = true) override;

    void SetMotorProfile(double dValue, motion_profile::PROFILE_TYPE type) override;

// method to set the motor type and encoder input type
    bool SetMotorType(int iMtrType) override;

// method to set the motor alarm signal logic
    bool SetMotorAlarmLogic(int iALM) override;

// method to set the home sensor signal logic
    bool SetMotorHomeSensorLogic(int iORGI) override;

// method to set the encoder Index signal logic
    bool SetMotorIndexLogic(int iIndexLogic) override;

// method to set the in position signal logic
    bool SetMotorINPLogic(int iINP) override;

// method to set clk type, out/dir or cw/ccw
    bool SetMotorClk(int iClk) override;

// Gary 21Mar11, V1.28.01
// Method to reset driver alarm via MotionNet
    int  ResetAlarm(bool bReset) override;
    bool IsSimultaneousMoveSupported(void) override;

    virtual double CovertAccToMtrUnits(double dAcc, double dNumPulsePerMM) override;

private:
    int Home(bool bHomeReverse, bool bSlowSpeed);

    bool PrepareMotionCurve(PROFILE_CURVE curve);

    enum PROFILE_TYPE
    {
        ACC,
        DEC,
        START_VEL,
        MAX_VEL,
    };

    bool SetMotionProfile(PROFILE_TYPE profileType);

    bool BeginContinuousMove(bool bDirection);

    bool ContinuousMove(PROFILE_CURVE profileCurve, bool bDir);

    bool PrepareForMove(PROFILE_CURVE profileCurve);
    bool SetupSimultaneousMove(int nNoOfAxis, short *sAxis, double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, double *dDec, int movType);

    bool SetupSimultaneousMoveAcclPerAxis(short sAxis, double dStartVel, double dAcc, double dDec);

    long m_AxisId  [MAX_AXIS_SIMULTANEOUS_MOV_MOTIONNET];
    long m_Posn    [MAX_AXIS_SIMULTANEOUS_MOV_MOTIONNET];
    long m_MaxVel  [MAX_AXIS_SIMULTANEOUS_MOV_MOTIONNET];
};

#endif // !defined(AFX_MOTOR_7856_H__912D0237_EABF_43CC_B320_635408A66001__INCLUDED_)